<html>
  <head>
    <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
    <link rel="stylesheet" href="http://www.petercorke.com/RVC/common/toolboxhelp.css">
    <title>M-File Help: trinterp</title>
  </head>
  <body>
  <table border="0" cellspacing="0" width="100%">
    <tr class="subheader">
      <td class="headertitle">M-File Help: trinterp</td>
      <td class="subheader-left"><a href="matlab:open trinterp">View code for trinterp</a></td>
    </tr>
  </table>
<h1>trinterp</h1><p><span class="helptopic">Interpolate SE(3) homogeneous transformations</span></p><p>
<strong>T</strong> = <span style="color:red">trinterp</span>(<strong>T0</strong>, <strong>T1</strong>, <strong>s</strong>) is a homogeneous transform (4x4) interpolated
between <strong>T0</strong> when <strong>s</strong>=0 and <strong>T1</strong> when <strong>s</strong>=1.  <strong>T0</strong> and <strong>T1</strong> are both homogeneous
transforms (4x4).  Rotation is interpolated using quaternion spherical
linear interpolation (slerp).  If <strong>s</strong> (Nx1) then <strong>T</strong> (4x4xN) is a sequence of
homogeneous transforms corresponding to the interpolation values in <strong>s</strong>.

</p>
<p>
<strong>T</strong> = <span style="color:red">trinterp</span>(<strong>T1</strong>, <strong>s</strong>) as above but interpolated between the identity matrix
when <strong>s</strong>=0 to <strong>T1</strong> when <strong>s</strong>=1.

</p>
<h2>See also</h2>
<p>
<a href="ctraj.html">ctraj</a>, <a href="SE3.interp.html">SE3.interp</a>, <a href="UnitQuaternion.html">UnitQuaternion</a>, <a href="trinterp2.html">trinterp2</a></p>
<hr>

<table border="0" width="100%" cellpadding="0" cellspacing="0">
  <tr class="subheader" valign="top"><td>&nbsp;</td></tr></table>
<p class="copy">&copy; 1990-2014 Peter Corke.</p>
</body></html>